Unmanned aerial vehicle autonomous landing method based on multi-sensor visual auxiliary positioning

By integrating multi-sensors and visual recognition systems on the drone and using landing signs to perform multi-stage autonomous vertical landing, the problems of position deviation and drift in the existing drone landing technology are solved, and high-precision and safe autonomous landing of drones are achieved.

CN119717840APending Publication Date: 2025-03-28JIANGSU UNIV OF TECH
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Patent Information

Application Number
CN202411451677.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-17
Publication Date
2025-03-28

AI Technical Summary

Technical Problem

The existing drone landing technology is greatly affected by environmental factors, resulting in excessive deviation between the actual landing point and the target landing point, and the situation where the complete identification image cannot be collected when the aircraft is low, resulting in drift and unable to land.

Method used

Adopting the autonomous landing method of drones based on multi-sensor visual assisted positioning, by setting landing signs (including concentric circles and Aruco QR codes) on the apron, the drone uses an on-board camera to identify the landing signs, combines laser ranging sensors to obtain altitude information, conducts multi-stage autonomous vertical landing, and continuously corrects the landing position.

Benefits of technology

It improves the accuracy of the drone landing, reduces the impact on the fuselage during landing, and ensures that the drone can be accurately positioned and landed successfully.

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Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous landing method based on multi-sensor visual auxiliary positioning, which comprises the following steps: a ground operator issues an aircraft return flight command to an unmanned aerial vehicle, and the unmanned aerial vehicle performs return flight operation and arrives at an overhead area of a landing point; a landing mark is arranged at the position of a parking apron, the landing mark comprises two concentric circles and an Aruco two-dimensional code in the concentric circles, and the circle centers of the two concentric circles coincide with the center of the Aruco two-dimensional code; and after the unmanned aerial vehicle arrives at the landing area and identifies the landing identifier, performing multi-stage autonomous vertical landing of visual auxiliary positioning, and continuously correcting the landing position of the unmanned aerial vehicle until the unmanned aerial vehicle completely lands on the parking apron with the landing identifier. According to the technical scheme, the position of the landing point of the unmanned aerial vehicle is accurately positioned in the whole landing process of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to achieve fixed-point landing, stage deceleration control is achieved, the autonomous landing technology of the unmanned aerial vehicle and the landing precision of the unmanned aerial vehicle are greatly improved, and the impact force on the fuselage of the unmanned aerial vehicle is reduced.
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